Header positioning assembly for an agricultural work vehicle and control system for the same

ABSTRACT

A control system for an agricultural work vehicle is provided, the control system includes at least one controller, at least one control input device configured to send control signals to the at least one controller, and a header positioning assembly configured to interchangeably couple a plurality of headers to a chassis of a traction unit. The header positioning assembly is moveable between a plurality of orientations with each of the plurality of orientations providing a unique mechanical advantage. The at least one controller is configured to output a plurality of control commands corresponding to the control signals generated by the at least one control input device, and the control commands are configured to effect movement of the header positioning assembly between the plurality of orientations. An agricultural work vehicle is provided and includes the control system.

CROSS-REFERENCE TO RELATED APPLICATION(S)

Not applicable.

STATEMENT OF FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable.

FIELD OF THE DISCLOSURE

This disclosure generally relates to agricultural work vehicles, andmore specifically to header positioning assemblies and methods ofoperating header positioning assemblies.

BACKGROUND OF THE DISCLOSURE

Various agriculture work vehicles perform a wide variety of agriculturaloperations such as, for example, combines and windrowers harvesting avariety of different crops. Depending on the crop or other factors,headers used to harvest the crop may have significantly differentgeometries, weights, and forward travel speed requirements. Examples ofheader platforms may include a rotary mower conditioner and a draper. Aunique linkage system is typically required to connect each of theheaders to a chassis of the agricultural work vehicle.

SUMMARY OF THE DISCLOSURE

The present disclosure provides a header positioning assembly foradjusting a header relative to a chassis of an agricultural.

In one aspect, this disclosure provides a header positioning assemblyfor adjusting a header relative to a chassis. The header positioningassemblies ensure each header has appropriate lift and floatationresponse and lateral tilt capabilities to consistently follow thecontour of the ground. The header positioning assembly includes a liftmechanism configured to couple the header to the chassis, at least onelift actuator configured to apply a force to the lift mechanism toadjust and maintain an orientation of the lift mechanism relative to thechassis, and an adjustment mechanism coupled to the at least one liftactuator or to the lift mechanism. The adjustment mechanism ispositionable in at least two orientations and configured so that whenthe adjustment mechanism is in the at least two orientations, andwithout uncoupling the adjustment mechanism from the at least one liftactuator or the lift mechanism to which the adjustment mechanism iscoupled, the adjustment mechanism changes one or more of a location anda direction of the force applied to the lift mechanism by the at leastone lift actuator.

In another aspect, the disclosure provides an agricultural work vehiclehaving a header, a traction unit having a chassis, and a headerpositioning assembly for adjusting the header relative to the chassis.The header positioning assembly includes a lift mechanism configured tocouple the header to the chassis, at least one lift actuator configuredto apply a force to the lift mechanism to adjust and maintain anorientation of the lift mechanism relative to the chassis, and anadjustment mechanism coupled to the at least one lift actuator or to thelift mechanism. The adjustment mechanism is positionable in at least twoorientations and configured so that when the adjustment mechanism is inthe at least two orientations, and without uncoupling the adjustmentmechanism from the at least one lift actuator or the lift mechanism towhich the adjustment mechanism is coupled, the adjustment mechanismchanges one or more of a location and a direction of the force appliedto the lift mechanism by the at least one lift actuator.

In a further aspect, the disclosure provides a control system for anagricultural work vehicle. The control system includes at least onecontroller, at least one control input device configured to send controlsignals to the at least one controller, and a header positioningassembly configured to interchangeably couple a plurality of headers toa chassis of a traction unit. The header positioning assembly ismoveable between a plurality of orientations with each of the pluralityof orientations providing a unique mechanical advantage. The at leastone controller is configured to output a plurality of control commandscorresponding to the control signals generated by the at least onecontrol input device, and the control commands are configured to effectmovement of the header positioning assembly between the plurality oforientations.

In yet another aspect, the disclosure provides an agricultural workvehicle including a plurality of headers, a traction unit having achassis, and a header positioning assembly configured to interchangeablycouple the plurality of headers to the chassis. The header positioningassembly is moveable between a plurality of orientations with each ofthe plurality of orientations providing a unique mechanical advantage.The agricultural work vehicle also includes a control system includingat least one controller, and at least one control input deviceconfigured to send control signals to the at least one controller. Theat least one controller is configured to output a plurality of controlcommands corresponding to the control signals generated by the at leastone control input device, and the control commands are configured toeffect movement of the header positioning assembly between the pluralityof orientations.

The details of one or more embodiments are set forth in the accompanyingdrawings and the description below. The components in the figures arenot necessarily to scale, emphasis instead being placed uponillustrating the principles of the disclosure. Other features andadvantages will become apparent from the description, the drawings, andthe claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top, front perspective view of a prior art headerpositioning assembly;

FIG. 2A is a side elevational view of the prior art header positioningassembly of FIG. 1 in a first orientation;

FIG. 2B is a side elevational view of the prior art header positioningassembly of FIG. 1 in a second orientation;

FIG. 3 is a top, front perspective view of one example of theagricultural work vehicle with one example of a header and one exampleof a header positioning assembly;

FIG. 4 is a top, front perspective view of the agricultural work vehicleand the header positioning assembly with another example of a header;

FIG. 5 is a schematic diagram of one example of an agricultural workvehicle, such as shown in FIG. 3 or 4, including a traction unit, aplurality of headers, and a header positioning assembly;

FIG. 6A is a side elevational view of one example of the headerpositioning assembly in FIGS. 3-5 in a first orientation;

FIG. 6B is a side elevational view of the header positioning assembly inFIG. 6A in a second orientation;

FIG. 7 is a top, front perspective view of one example of anagricultural work vehicle, such as shown in FIG. 3 or 4, including anexample of a header positioning assembly, examples of interchangeableheaders, and one example of at least a portion of a control system ofthe agricultural work vehicle illustrating one manner of operation ofthe control system;

FIG. 8 is a top, front perspective view of the agricultural work vehicleof FIG. 7 illustrating another manner of operation of the controlsystem;

FIG. 9 is a flowchart for an example agricultural work vehicle controlmethod;

FIG. 10 is a schematic diagram of another example of an agriculturalwork vehicle including a traction unit, a plurality of headers, and aheader positioning assembly;

FIG. 11A is a side elevational view of one example of the headerpositioning assembly in FIG. 10 in a first orientation;

FIG. 11B is a side elevational view of the header positioning assemblyin FIG. 10 in a second orientation;

FIG. 12A is a side elevational view of another example of a portion ofan agricultural work vehicle including a portion of another example of aheader positioning assembly in a first orientation;

FIG. 12B is a side elevation view of the portion of the agriculturalwork vehicle and the portion of the header positioning assembly in FIG.12B in a second orientation;

FIG. 13 is a schematic diagram of another example of an agriculturalwork vehicle including a traction unit, a plurality of headers, and aheader positioning assembly;

FIG. 14 is a top, front perspective view of one example of anagricultural work vehicle, such as shown in FIGS. 3, 4, andschematically in FIG. 13, including an example of a header positioningassembly, examples of interchangeable headers, and one example of atleast a portion of a control system of the agricultural work vehicleillustrating one manner of operation of the control system

FIG. 15A is a side elevational view of one example of a portion of anagricultural work vehicle including one example of a header positioningassembly in a first orientation; and

FIG. 15B is a side elevational view of the portion of the agriculturalwork vehicle and the header positioning assembly in FIG. 15A in a secondorientation.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

The following describes one or more example embodiments of the disclosedagricultural work vehicles, header positioning assemblies, and controlsystems for the agricultural work vehicles and header positioningassemblies as shown in the accompanying figures of the drawingsdescribed briefly above. Various modifications to the exampleembodiments may be contemplated by one of skill in the art.

As used herein, unless otherwise limited or modified, lists withelements that are separated by conjunctive terms (e.g., “and”) and thatare also preceded by the phrase “one or more of” or “at least one of”indicate configurations or arrangements that potentially includeindividual elements of the list, or any combination thereof. Forexample, “at least one of A, B, and C” or “one or more of A, B, and C”indicates the possibilities of only A, only B, only C, or anycombination of two or more of A, B, and C (e.g., A and B; B and C; A andC; or A, B, and C).

Furthermore, in detailing the disclosure, terms of direction andorientation, such as “forward,” “front,” “aft,” “rear,” “lateral,”“horizontal,” and “vertical” may be used. Such terms are defined, atleast in part, with respect to the direction in which the agriculturalwork vehicle travels during use. For example, the terms “forward” and“front” (including “fore” and any further derivatives or variations)refer to a direction corresponding to the primary direction of travel,while the term “aft” and “rear” (and derivatives and variations) referto an opposing direction. The term “longitudinal axis” may alsoreference an axis extending in fore and aft directions. By comparison,the term “lateral axis” may refer to an axis that is perpendicular tothe longitudinal axis and extends in a horizontal plane; that is, aplane containing both the longitudinal and lateral axes. The term“vertical,” as appearing herein, refers to an axis or a directionorthogonal to the horizontal plane containing the fore-aft and lateralaxes.

Agricultural work vehicles may be used to harvest agricultural crops,which may have unique dimensions, textures, and handling requirements.Accordingly, agricultural work vehicles may include a wide variety ofcrop interface components or headers to ensure proper handling andharvesting of the various agricultural crops. As indicated above,headers have significantly different geometries, weights, and forwardtravel speed requirements. One example of an agriculture work vehicleused to harvest or otherwise cut agricultural crops may be referred toas a windrower, and examples of header platforms used by windrowers toharvest agricultural crops may include, for example, a rotary mowerconditioner and a draper.

Conventional windrowers or other agricultural work vehicles typicallyinclude two linkage systems, one on each side of the header. Eachlinkage system may include a float cylinder with one end of the floatcylinder mechanically connected to the chassis of the agricultural workvehicle and manually moveable relative to the chassis to change theleverage of the float cylinder. To move the end of each float cylinder,a person manually removes a pin from the end of the float cylinder andadjusts a length of the float cylinder to reposition the end of thefloat cylinder at a new connection location on the chassis. The manualadjustment of the float cylinder may not be a simple task since thefloat cylinder and associated linkage are heavy and provide resistanceto extension or compression of the cylinder due to the hydraulicsassociated with the float cylinder. In some cases, multiple people maybe required to perform this adjustment. Once the float cylinder isadjusted to the appropriate length and repositioned at the newconnection location, a person manually inserts the pin to reconnect thefloat cylinder to the chassis.

Conventional header positioning assemblies may be manually moved betweena plurality of orientations with each orientation configured toaccommodate a particular type of header. Such conventional headerpositioning assemblies require significant manual or physical exertionto move the header positioning assembly between orientations andoftentimes require multiple individuals to move the header positioningassembly between orientations. For example, as noted, the one or moreindividuals may need to manually remove pins, manually extend or retractcylinders (with resistance provided by the hydraulics), and manuallylift or support mechanisms of the header and/or traction unit duringconversion of the header positioning assembly.

With reference to FIG. 1, one example of a conventional headerpositioning assembly 10 is illustrated and is shown in combination withone example of a header 12 and a portion of a traction unit 14. Theconventional header positioning assembly 10 couples the header 12 to thetraction unit 14. With further reference to FIGS. 2A and 2B, theconventional header positioning assembly 10 is shown in two differentorientations or configurations. To move the conventional headerpositioning assembly 10 between these two orientations orconfigurations, a pin on each side of the header positioning assembly 10is removed, a lift arm 16 is lifted or supported off of the ground, alift or float cylinder 18 is manipulated to extend or retract the liftcylinder 18 to a proper length to align an end of each lift cylinder 18with a desired one of a plurality of coupling locations or openings on achassis of the traction unit 14. Then each pin is inserted through thealigned end of each lift cylinder 18 and the desired coupling locationon the chassis. FIG. 2A shows an orientation or configuration of theheader positioning assembly 10 associated with a header 12 a having alesser weight and form factor, and FIG. 2B shows an orientation orconfiguration of the header positioning assembly 10 associated with aheader 12 b having a greater weight and form factor. An angle A2 of thelift cylinder 20 in FIG. 2B is greater than an angle A1 of the liftcylinder 18 in FIG. 2A, thus providing the header positioning assembly10 with a greater mechanical advantage in the orientation illustrated inFIG. 2B due to the longer lever arm L2 corresponding to theperpendicular distance from a pivot point P2 to the force F2 applied bythe lift cylinder 18 compared to the relatively shorter lever arm L1corresponding to the perpendicular distance from a pivot point P1 to theforce F1 applied by the lift cylinder 18 in the FIG. 2A orientation.

Referring now to the present disclosure, one or more examples ofagricultural work vehicles include a header positioning assemblyconfigured to interchangeably couple a plurality of headers to thetraction unit with very little or no manual or physical exertion by anoperator. Moreover, the header positioning assembly ensures that eachheader has appropriate lift speed as well as floatation response andlateral tilt capabilities to consistently follow the contour of theground. The header positioning assembly may have a plurality oforientations with each orientation associated with a particular type ofheader. Each orientation of the header positioning assembly isdetermined based on various factors, including the geometries, weights,and forward travel speed requirements of the particular header.

The present disclosure also includes one or more examples of a controlsystem for controlling the agricultural work vehicles and the headerpositioning assemblies. The control system can control the agriculturalwork vehicles and header positioning assemblies in a variety of mannersto move the header positioning assemblies between the plurality oforientations as desired.

Movement of the header positioning assembly between the plurality oforientations adjusts the mechanical advantage of the header positioningassembly to better accommodate different headers. Such movement of theheader positioning assembly between orientations may occur automaticallyby actuating one or more actuators. In such an example, an operator mayactuate an operator control input device (e.g., from a cab of thetraction unit), which generates one or more control signals as a resultof actuation and such one or more signals are communicated to acontroller that then generates and communicates one or more controlcommands to the one or more actuators to adjust the header positioningassembly to a desired orientation. The operator may actuate the inputdevice to adjust the orientation of the header positioning assemblyeither before or after coupling the header positioning assembly to theheader. Additionally, in such an example, the plurality of headers mayeach include a first communication device (e.g., an emitter) and thetraction unit or header positioning assembly may include a secondcommunication device (e.g., a receiver) in wireless communication witheach other. The first communication devices include uniquecharacteristics associated with the type of header on which theypositioned. When the second communication device comes into relativelyclose proximity to a particular one of the first communication devices,the second communication device communicates with the firstcommunication device and as a result of such communication, the secondcommunication device generates one or more control signals based on theunique characteristic of the one of the first communication devices. Theone or more control signals are communicated to a controller, which thengenerates and communicates one or more control commands to the one ormore actuators to adjust the header positioning assembly to a desiredorientation. Such an example of a control system automatically detectsthe type of header that will be coupled to the traction unit and movesthe header positioning assembly to an orientation associated with thedetected type of header. Thus, an operator is not required to manuallymove any portion of the header positioning assembly to change theorientation of the header positioning assembly.

By increasing a mechanical advantage, the header positioning assembly isconfigured to support a header having a greater weight, and bydecreasing a mechanical advantage, the header positioning assembly isconfigured to support a header having a lesser weight. Mechanicaladvantage of the header positioning assembly may be adjusted in varietyof manners, including those manners briefly described above andhereinafter, and the manners described herein are only examples of themany manners of adjusting mechanical advantage. In one example, theheader positioning assembly may be coupled to a chassis of a tractionunit and the header positioning assembly may include one or more liftactuators used to support and move a header relative to the chassis. Theone or more lift actuators may be moved relative to the chassis and/orthe header to adjust a mechanical advantage of the header positioningassembly. The one or more lift actuators may be moved by one or moreadjustment actuators, with one adjustment actuator coupled to each ofthe lift actuators. The adjustment actuators may move the lift actuatorsbetween a plurality of orientations and, therefore, provide a pluralityof different mechanical advantages. In one example, as briefly describedabove, the adjustment actuators may be moved by an operator actuating anoperator control input device. In another example, as also brieflydescribed above, the adjustment actuators may be moved by the controlsystem recognizing or detecting type of header to be coupled to thetraction unit and communicating control commands based on the type ofheader to the adjustment actuator.

The following discussion of one or more example implementations of theassemblies and methods disclosed herein may sometimes focus on thetraction unit example application of a windrower and header exampleapplications of a rotary mower conditioner and a wide draper platform.In other examples, the assemblies and methods disclosed herein may beutilized with other types of traction units and other types of headers,such as those used with combine harvesters or other agricultural workvehicles. Further, the following describes one or more exampleimplementations of the disclosed header positioning assembly in anagricultural work vehicle and the control system thereof, as shown inthe accompanying figures of the drawings described briefly above.Generally, the disclosed header positioning assemblies, the agriculturalwork vehicles in which they are implemented, and the control systemsthereof provide for better operation and responsiveness of each headercarried by the agricultural work vehicle as well as easier and moreefficient change-out of headers on agricultural work vehicles ascompared to conventional systems and arrangements.

Referring now to FIG. 5, one example of an agricultural work vehicle 20is illustrated and includes a plurality of interchangeable headers 24(e.g., 24 a, 24 b, 24 n), a traction unit 28, and a header positioningassembly 32. The agricultural work vehicle 20 is configured to includeany number of headers 24 and each header 24 is configured to perform aunique agricultural operation. The traction unit 28 may be any of a widevariety of traction units 28 and generally includes an operator cab 36,an engine compartment 40, a drive member 48 (e.g., internal combustionengine, electric motor, etc.), and one or more propulsion members 44(e.g., wheels, tracks, etc.). The cab 36 may have any of variousconfigurations suitable to provide the location of the work vehicle 20occupied by an operator. The operator cab 36 may include, for example,one or more operator control input devices 45 (e.g., levers, buttons,touch screen capabilities, or any other type of mechanical or electrical(digital or analog) activation to create and/or send signals to acontroller) and one or more output devices 46 (e.g., monitors, displays,speakers, or any other type of audible and/or visual indicatorconfigured to audibly and/or visually convey information to anoperator), manipulatable and/or perceivable by the operator to controloperation of the work vehicle 20. The operator cab 36 may also include,for example, one or more controllers 47 and associated memory 49. Theone or more controllers 47 may be configured to receive, generate,communicate, and transmit signals and control commands from and/or toappropriate components of the agricultural work vehicle to effectoperation of the agricultural work vehicle.

For example, an operator or external source may activate an operatorcontrol input device 45 which would create a control signal based on theactivation of the input device 45. The control signal would becommunicated by the input device 45 to the controller 47 and thecontroller 47 would act in accordance with the received control signal.For example, the controller 47 may generate one or more control commandsand transmit the one or more control commands to one or more outputdevices 46 for consideration and action by the operator, and/or thecontroller could transmit one or more control commands to one or moreother devices (e.g., adjustment actuators, lift actuators, liftcylinder, headers, engine, etc.) of the agricultural work vehicle 20effecting action of the one or more other devices. The controller 47 maybe configured to selectively communicate data/signals/commands to andretrieve data/signals from the memory 49.

The engine compartment 40 is capable of having many configurations andgenerally contains a drive member 48 such as, for example, a motor orengine for providing the necessary power to various components of thework vehicle 20. In one example, the drive member 48 may be a dieselpowered internal combustion engine. Other components associated with thedrive member 48 may also be housed or contained, at least in part, inthe engine compartment 40. The work vehicle 20 may have one or morepropulsion members 44 for moving the work vehicle 20 along a terrain.The type of propulsion member(s) 44 used with a work vehicle 20 maydepend on the type of terrain and/or the type of work being performed bythe work vehicle 20. For example, the propulsion member(s) 44 may beendless tracks, ground-engaging wheels, etc.

With reference also to FIG. 3, the agricultural work vehicle 20 isillustrated with one particular example of a header 24 a and oneparticular example of a traction unit 28. In this illustrated example,the agricultural work vehicle 20 may be referred to as a windrower andthe traction unit may be referred to as a tractor 28. The illustratedexample of a header is a rotary mower conditioner 24 a. The rotary mowerconditioner 24 a has a first set of characteristics including, but notlimited to, a first size, a first shape or geometry, a first weight, anda first function, to perform an agricultural operation on a particulartype of crop or crops (e.g., harvest or cut a crop). The headerpositioning assembly 32 couples the rotary mower conditioner 24 a to achassis 52 of the traction unit 28, moves the rotary mower conditioner24 a relative to the chassis 52 and the ground, and supports the rotarymower conditioner 24 a during operation and transport.

Referring also to FIG. 4, the agricultural work vehicle 20 isillustrated with the same traction unit 28 and header positioningassembly 32, but with another example of a header 24 b. In thisillustrated example, the header may be referred to as a wide draperplatform 24 b. The wide draper platform 24 b has a second set ofcharacteristics including, but not limited to, a second size, a secondshape or geometry, a second weight, and a second function, in order toperform an agricultural operation on a particular type of crop or crops(e.g., harvest or cut a crop). The first and second sets ofcharacteristics of the respective headers 24 a and 24 b are differentfrom each other. For example, the second size, second shape, and secondweight are greater than the respective first size, first shape, andfirst weight. The header positioning assembly 32 couples the wide draperplatform 24 b to the chassis 52 of the traction unit 28, moves the widedraper platform 24 b relative to the chassis 52 and the ground, andsupports the wide draper platform 24 b during operation and transport.

The header positioning assembly 32 of the present disclosure isconfigured to, among other things: alternatively couple the twoillustrated examples of headers 24 a, 24 b, along with many other typesof headers 24 n, to the chassis 52 of the traction unit 28; move theplurality of headers 24 a, 24 b, 24 n relative to the ground and thechassis 52 of the traction unit 28; support the plurality of headers 24a, 24 b, 24 n during operation and transport of the headers 24 a, 24 b,24 n; and adjust between various orientations easily, efficiently, andwithout significant or no manual or physical exertion by the an operatorto accommodate the plurality of headers 24 a, 24 b, 24 n.

Referring now also to FIG. 6A, one example of the header positioningassembly 32 is illustrated. In the illustrated example, the headerpositioning assembly 32 includes a pair of lift arms or lift mechanisms56 spaced-apart from one another on opposite sides of the headerpositioning assembly 32 (one lift mechanism is shown in the sideelevational view of FIG. 6A). The lift mechanisms 56 are coupled to aheader (not shown in FIG. 6A for simplicity and to illustrate aspects ofthe present disclosure) and to the chassis 52 of the traction unit 28.In one example, first ends 60 of the lift mechanisms 56 are coupled to aheader and second ends 64 of the lift mechanisms 56 are rotatablycoupled to the chassis 52 of the traction unit 28. Each lift mechanism56 is configured to rotate about a pivot axis 68 defined throughrespective locations where the lift mechanisms 56 rotatably couple tothe chassis 52. In the illustrated example, the pivot axes 68 are fixedrelative to the chassis 52.

The illustrated example of the header positioning assembly 32 alsoincludes a pair of combination lift and float actuators 72 (or floatcylinders) (one combination lift and float actuator is shown in the sideelevational view of FIG. 6A), with one combination lift and floatactuator 72 coupled to each of the lift mechanisms 56. In some examples,the header positioning assembly 32 may include separate lift actuatorsand float actuators with the lift actuators performing functionalitiesof lift actuators and float actuators performing functionalities offloat actuators. In the present illustrated example, the headerpositioning assembly 32 includes a combination of a lift actuator and afloat actuator in a single actuator on both sides of the headerpositioning assembly 32 with the single actuator performingfunctionalities of both a lift actuator and a float actuator. Forsimplicity, the combination lift and float actuators 72 included in thisillustrated example will be referred to as lift actuators 72 with itbeing understood that the lift actuators 72 of the illustrated exampleare capable of performing functionalities associated with both liftactuators and float actuators.

The lift actuators 72 are configured to apply forces to respective liftmechanisms 56 to adjust and maintain an orientation of the liftmechanisms 56 relative to the chassis 52 of the agricultural workvehicle 20. The header positioning assembly 32 also includes a pair ofadjustment mechanisms (e.g., or pivot links) 76 and a pair of adjustmentactuators 80 (one adjustment mechanism and one adjustment actuator isshown in the side elevational view of FIG. 6A). First ends 84 of thelift actuators 72 are rotatably coupled to a respective one of the liftmechanisms 56 and second ends 88 of the lift actuators 72 are rotatablycoupled to a respective one of the adjustment mechanisms 76.

In the illustrated example, each adjustment mechanism 76 includes afirst leg 92, a second leg 96 at an angle A3 to the first leg 92, and apivot point 100 at an intersection of the first leg 92 and second leg96. The adjustment mechanisms 76 are rotatably coupled to the chassis 52of the traction unit 28 with the first legs 92 and rotate about a pivotaxis 104 defined through locations where the adjustment mechanisms 76rotatably couple to the chassis 52. The second ends 88 of the liftactuators 72 couple to a respective one of the pivot points 100 of theadjustment mechanisms 76. The adjustment actuators 80 include first ends108 rotatably coupled to the chassis 52 of the traction unit 28 andsecond ends 112 rotatably coupled to a respective one of the second legs96 of the adjustment mechanisms 76. In one example, the adjustmentmechanisms 76 are configured to change a location and/or a direction offorces F1, F2 applied to respective lift mechanisms 56 by the respectivelift actuators 72. This change in location and/or direction of theforces F1, F2 occurs without uncoupling the adjustment mechanisms 76 (orany other components of the header positioning assembly) from any of theother components of the agricultural work vehicle 20. The forces F1, F2applied by the lift actuators 72 effect moments on the respective liftmechanisms 56 about second pivot axes 116 movable with respect to thechassis 52. In one example, the second pivot axes 116 may be at thepivot points 100 of the adjustment mechanisms 76 where the ends 88 ofthe lift actuators 72 couple to the adjustment mechanisms 76. In anotherexample, the adjustment mechanisms 76 may be coupled to the first ends84 of the lift actuators 72, the adjustment actuators 80 may be coupledto the adjustment mechanisms 76 to move the adjustment mechanisms 76 ina similar manner to that previously described, and the first ends 84 ofthe lift actuators 72 may be moved. In such an example, the forces F1,F2 applied by the lift actuators 72 effect moments on the respectivelift mechanisms 56 about second pivot axes 116 movable with respect tothe chassis 52 and the second pivot axes 116 may be at pivot pointswhere the ends 84 of the lift actuators 72 couple to the adjustmentmechanisms 76 and the lift mechanisms 56.

Since FIGS. 6A and 6B are side elevational views of the headerpositioning assembly 32, these figures show only one side of the headerpositioning assembly 32 and, more particularly, only show one liftmechanism 56, one lift actuator 72, one adjustment mechanism 76, and oneadjustment actuator 80. It should be understood that the lift mechanism56, the lift actuator 72, the adjustment mechanism 76, and theadjustment actuator 80 on the opposite side of the header positioningassembly 32 may operate in a similar or the same manner as the liftmechanism 56, the lift actuator 72, the adjustment mechanism 76, and theadjustment actuator 80 illustrated in FIGS. 6A and 6B and describedherein.

The header positioning assembly 32 is illustrated in a first orientationor configuration associated with a first type of header 24 a. In theillustrated example, this first orientation or configuration may beassociated with the rotary mower conditioner 24 a shown in FIG. 3. Inthis first orientation or configuration, a first angle A1 is formedbetween the lift actuator 72 (or direction of force F1) and the liftmechanism 56 and a first perpendicular distance or lever arm L1 isestablished between the pivot axis 68 and the lift actuator 72 (ordirection of force F1). In this first orientation, the headerpositioning assembly 32 provides a first mechanical advantageestablished by the first distance or first lever arm L1 corresponding toa perpendicular distance from pivot axis 68 to the force F1 applied bythe lift actuator 72. As indicated above, the lift actuator 72 mayrotate relative to the lift mechanism 56. In the illustrated example,this rotation of the lift actuator 72 occurs by actuating the adjustmentactuator 80, which acts on the second leg 96 of the adjustment mechanism76 causing the adjustment mechanism 76 to rotate relative to the chassis52 of the traction unit 28. Rotation of the adjustment mechanism 76causes the lift actuator 72 to rotate relative to the adjustmentmechanism 76, the chassis 52, and the lift mechanism 56. In thisconfiguration, the lift actuator 72 can rotate between numerousorientations without moving the lift mechanism 56. The headerpositioning assembly 32 may be moved to a plurality of differentorientations by actuating the adjustment actuator 80. These plurality oforientations may be associated with different types of headers 24.

Referring now to FIG. 6B, the header positioning assembly 32 isillustrated in a second orientation or configuration associated with asecond type of header 24 b. In the illustrated example, this secondorientation or configuration may be associated with the wide draperplatform 24 b shown in FIG. 4. In this second orientation orconfiguration, the adjustment actuator 80 has been retracted (i.e., thelength of the adjustment actuator decreased), thereby rotating theadjustment mechanism 76 (e.g., in a clockwise direction as illustratedin FIG. 6B) and rotating the lift actuator 72 (e.g., in acounterclockwise direction as illustrated in FIG. 6B) relative to thechassis 52 and the lift mechanism 56. In this second orientation, asecond angle A2 is formed between the lift actuator 72 (or direction offorce F2) and the lift mechanism 56 and a perpendicular second distanceL2 is established between the pivot axis 68 and the lift actuator 72 (ordirection of force F2). In this second orientation, the headerpositioning assembly 32 provides a second mechanical advantageestablished by the second distance or second lever arm L2 correspondingto a perpendicular distance from pivot axis 68 to the force F2 appliedby the lift actuator 72. In this example, the second angle A2 is greaterthan the first angle A1 and the second distance or second lever arm L2is greater than the first distance or first lever arm L1. By increasingthe angle between the lift actuator 72 (or direction of force) and thelift mechanism 56 and increasing the distance or lever arm between thelift actuator 72 (or direction of force) and the pivot axis 68, amechanical advantage of the header positioning assembly 32 has beenincreased from the first orientation or configuration shown in FIG. 6Ato the second orientation or configuration shown in FIG. 6B. FIGS. 6Aand 6B show only two of many possible orientations of the headerpositioning assembly 32. The many orientations of the header positioningassembly 32 allow the header positioning assembly 32 to have a varietyof different mechanical advantages. The ability of the headerpositioning assembly 32 to selectively and easily increase or decreaseits mechanical advantage allows the header positioning assembly 32 tosupport a wide variety of header types and facilitate easyinterchangeability of headers 24 on the traction unit 28 withoutsignificant or any physical exertion by the operator.

With continued reference to FIGS. 1-6B and further reference to FIGS.7-9, one example of a control system 123 of the agricultural workvehicle 20 will be described. The example of the control system 123describe herein is capable of operating the agricultural work vehiclesand the header positioning assemblies described herein in a variety ofmanners. The example operations, functions, actions, etc., of thecontrol system 123 described herein may be only a portion of the manyoperations, functions, actions, etc., of the control system 123 and areprovided to demonstrate principles of the present disclosure. It shouldbe understood the example operations, functions, actions, etc.,described herein with respect to the control system 123 are not intendedto be limiting upon the present disclosure.

Moreover, the control system 123 of the agricultural device may have avariety of components and such components may be located in a variety oflocations throughout the agricultural work vehicle 20. For example, thecontrol system 123 may include one or more components in the cab 36, oneor more components in the engine compartment 40, one or more componentson the header positioning assembly 32, and/or one or more components onthe headers 24, among other locations. The location of the components ofthe control system 123 throughout the agricultural work vehicle 20 isnot an essential aspect of the present disclosure. Rather, it should beunderstood that the components of the control system 123 may be locatedanywhere throughout the agricultural work vehicle 20 in anyconcentration and/or configuration and all such possibilities areintended to be with in the spirit of the present disclosure.

With particular reference to FIGS. 7 and 8, the agricultural workvehicle 20 and the control system 123 are illustrated. In this example,the traction unit 28 is separated from a plurality of headers 24 a, 24 band may be coupled to either of the headers 24 a, 24 b. The controlsystem 123 of the agricultural work vehicle 20 is capable of moving theheader positioning assembly 32 to an appropriate orientation based onthe desired header 24 a, 24 b to be coupled to the traction unit 28. Thecontrol system 123 may move the header positioning assembly 32 to anappropriate orientation in a variety of manners. FIG. 7 illustrates oneexample of the control system 123 moving the header positioning assembly32 between orientations and FIG. 8 illustrates another example of thecontrol system 123 moving the header positioning assembly 32 betweenorientations. In both figures, the control system 123 includes at leastone control input device 124 to move the header positioning assembly 32between orientations. In FIG. 7, the control input device 124 is one ormore operator control input devices (e.g., input device(s) 45), and thecontrol system 123 requires an operator's observation/decision andactuation of one or more operator control input devices 45 to move theheader positioning assembly 32 between orientations. FIG. 7 alsoillustrates another example of the control system 123. In this example,the control input device 124 may include one or more first engagementmembers 125 on the header positioning assembly 32 (a single firstengagement member illustrated in the figures) and a plurality of secondengagement members 126 a, 126 b with one of the plurality of secondengagement members 126 a, 126 b on each of the headers 24 a, 24 b. Insuch an example, the control system 123 automatically moves the headerpositioning assembly 32 between orientations without requiring anoperator's observation/decision and actuation of operator control inputdevices due to an engagement between the first engagement member(s) 125and one of the second engagement members 126 a, 126 b. In FIG. 8, thecontrol input device 124 includes a plurality of emitters 127 and areceiver 129 (see also FIG. 5), and the control system 123 automaticallymoves the header positioning assembly 32 between orientations withoutrequiring an operator's observation/decision and actuation of operatorcontrol input devices due to communication between the emitters 127 andthe receiver 129. Each example manner of operation of the control system123 will be described in more detail below.

Referring to FIG. 7, an operator typically occupies the cab 36 of theagricultural device and is capable of viewing the environmentsurrounding the agricultural work vehicle 20. As indicated above, aplurality of headers 24 a, 24 b may be coupled to the traction unit 28.The operator observes the header or headers 24 a, 24 b proximate thetraction unit 28, decides the appropriate header 24 a, 24 b to becoupled to the traction unit 28, and actuates an operator control inputdevice 45 based on the appropriate header 24 a, 24 b. Actuation of theoperator control input device 45 generates one or more control signalsand the operator control input device 45 sends or communicates the oneor more control signals to the controller 47. The one or more controlsignals are associated with a particular type of header 24 a, 24 b andsuch one or more control signals may be different based on the type ofheader 24 a, 24 b. The controller 47 receives the one or more controlsignals from the operator control input device 45 and generates one ormore control commands based on the one or more control signals receivedand the type of header 24 a, 24 b. The controller 47 outputs orcommunicates the one or more control commands to the header positioningassembly 32 to effect movement of the header positioning assembly 32 tothe proper orientation associated with the type of header 24 a, 24 b tobe coupled to the traction unit 28. In one example, the controller 47outputs or communicates the one or more control commands to theadjustment actuators 80 to actuate the adjustment actuators 80 to movethe adjustment mechanisms 76, which in turn effect movement of the liftactuators 72 and the lift mechanisms 56.

Referring to FIG. 8, an operator typically occupies the cab 36 of theagricultural work vehicle 20 and is capable of viewing the environmentsurround the agricultural work vehicle 20. As indicated above, aplurality of headers 24 a, 24 b may be coupled to the traction unit 28.In one example, either the traction unit 28 or the header positioningassembly 32 may include a communication device 127, 129, and each of theheaders 24 a, 24 b may include their own communication device 129, 127.In one example, the traction unit 28 or the header positioning assembly32 includes a receiver 129 and each of the headers 24 a, 24 b includes aunique emitter 127 a, 127 b. The receiver 129 and the emitters 127 a,127 b are configured to cooperate to generate a control signal unique toeach of the headers 24 a, 24 b. In other examples, the configuration ofthe communication devices 127, 129 may be different. For example, eachof the headers 24 a, 24 b may include a receiver 129 and a singleemitter 127 may be positioned on one of the traction unit 28 or theheader positioning assembly 32.

Returning to the illustrated example, the operator operates the tractionunit 28 into relative close proximity to a desired one of the headers 24a, 24 b for coupling to the traction unit 28. When the traction unit 28moves into a predetermined range of the desired one of the headers 24 a,24 b, the receiver 129 and the emitter 127 a, 127 b on the desired oneof the headers 24 a, 24 b wirelessly communicate. The one of theemitters 127 a, 127 b generates and sends one or more control signals tothe receiver 129 associated with the desired one of the headers 24 a, 24b. The receiver 129 receives the one or more control signals from theemitter 127 a, 127 b and generates its own one or more control signalsassociated with the desired header 24 a, 24 b. The receiver 129 sends orcommunicates the one or more control signals to the controller 47. Thecontroller 47 receives the one or more control signals from the receiver129 and generates one or more control commands based on the one or morecontrol signals received from the receiver 129 and the desired header 24a, 24 b. The controller 47 outputs or communicates the one or morecontrol commands to the header positioning assembly 32 to effectmovement of the header positioning assembly 32 to the proper orientationassociated with the desired header 24 a, 24 b to be coupled to thetraction unit 28. In one example, the controller 47 outputs orcommunicates the one or more control commands to the adjustmentactuators 80 to actuate the adjustment actuators 80, thereby moving theadjustment mechanisms 76, which in turn effect movement of the liftactuators 72 and the lift mechanisms 56.

Referring now also to FIG. 9, a flowchart illustrates one example of amethod 130 of adjusting an orientation of a header positioning assembly32 that may be performed by the control system 123 of the presentdisclosure. In this example, the flowchart considers both examples ofoperation illustrated in FIGS. 7 and 8. As can be appreciated in lightof the disclosure, the order of operation within the method 130 is notlimited to the sequential execution as illustrated in FIG. 9, but may beperformed in one or more varying orders as applicable and in accordancewith the present disclosure.

In one example, the method 130 begins as step 132. At step 134, themethod 130 determines whether the ignition key of the traction unit 28is turned on. If the ignition key is not turned on, the method 130returns to again determine if the ignition key is turned on. If theignition key is turned on, the controller 47 receives control signalsfrom the ignition to indicate the ignition key is turned on and themethod 130 proceeds to step 136. At step 136, the controller 47generates and sends one or more control signals and/or commands to anoutput device 46, such as a visual display, to display text inquiringwhether the operator wishes to activate “Auto Header Attach?”. Theoperator considers the inquiry posed at step 136 and actuates anoperator control input device 45 with the answer to the inquiry. Theoperator control input device 45 may be a wide variety of input devicesincluding, but not limited to, a touch screen display (in which case thesame device would be both the input device and the output device), abutton, a lever, or other type of mechanical, electrical, ormechanical/electrical actuator. The method 130 proceeds to step 138 todetermine the operators answer to the inquiry posed at step 136. If theoperator actuated the operator control input device 45 to record ananswer of “No”, the operator control input device 45 generates a controlsignal associated with a “No” answer and communicates the control signalto the controller 47. The controller 47 receives the control signalassociated with the “No” answer and the method 130 proceeds to step 160(described in more detail below). If the operator actuated the operatorcontrol input device 45 to record an answer of “Yes”, the operatorcontrol input device 45 generates one or more control signals associatedwith a “Yes” answer and communicates the one or more control signals tothe controller 47. The controller 47 receives the one or more controlsignals associated with the “Yes” answer and the controller 47 generatesone or more control signals and/or commands to activate automatic headerattachment capability at step 140.

At step 142, the method 130 determines if the automatic headerattachment feature is active. If the automatic header attachment isactive, the method 130 proceeds to determine the one of the plurality ofheaders 24 a, 24 b to which the traction unit 28 is going to couple.With automatic header attachment active, the control system 123 utilizesthe receiver 129 and emitters 127 a, 127 b to identify the header 24 a,24 b to be coupled to the traction unit 28. The receiver 129 andemitters 127 a, 127 b have a predetermined range or distance ofcommunication such that when the receiver 129 moves toward one of theemitters 127 a, 127 b and enters into the predetermined range, thereceiver 129 and emitter 127 a, 127 b begin communicating. Thepredetermined range may be any range or distance and all of suchpossibilities are intended to be within the spirit and scope of thepresent disclosure. As the receiver 129 moves within the predeterminedrange of one of the emitters 127 a, 127 b, the method 130 determines atstep 144 if the emitter 127 a, 127 b is a first emitter 127 a associatedwith a first header 24 a. At this step, the emitter 127 a, 127 b sends acontrol signal unique to the header 24 a, 24 b and the receiver 129receives the control signal unique to the header 24 a, 24 b. Thereceiver 129 sends one or more control signals to the controller 47associated with the header 24 a, 24 b and the controller 47 determinesif the control signal associated with the header 24 a, 24 b is actuallyassociated with a first header 24 a. If the controller 47 determines theheader is a first header 24 a, the method 130 proceeds to step 146 wherethe controller 47 generates and sends one or more control commands tothe adjustment actuators 80 to move the adjustment actuators 80 to afirst orientation appropriately configured to couple to and support thefirst header 24 a. The method 130 then proceeds to step 148 where thecontroller 47 confirms whether or not the adjustment actuators 80 are intheir first orientation.

At step 148, the controller 47 receives feedback (e.g., in the form ofone or more control signals) from the adjustment actuators 80 and thecontroller 47 determines if the feedback comports with the appropriatefirst orientation of the adjustment actuators 80. If the controller 47determines the adjustment actuators 80 are not in their firstorientation, the method 130 returns to step 146 and the controller 47again attempts to move the adjustment actuators 80 to their firstorientation. Returning to step 148, if the controller 47 determines theadjustment actuators 80 are in their first orientation, the method 130proceeds to step 150 where the controller 47 deactivates the automatedheader attachment feature. The method 130 then ends at step 152.

Returning to step 144, if the controller 47 determines the detectedheader is not the first header 24 a, the method 130 proceeds to step 154where the controller 47 determines if the header is a second header 24b. At step 154 the method 130 determines if the emitter 127 a, 127 b isa second emitter 127 b associated with a second header 24 b. At thisstep, the one of the emitters 127 a, 127 b sends one or more controlsignals unique to the detected header 24 a, 24 b and the receiver 129receives the one or more control signals unique to the detected header24 a, 24 b. The receiver 129 sends one or more control signals to thecontroller 47 associated with the detected header 24 a, 24 b and thecontroller 47 determines if the one or more control signals associatedwith the detected header 24 a, 24 b is actually associated with a secondheader 24 b. If the controller 47 determines the detected header is asecond header 24 b, the method 130 proceeds to step 156 where thecontroller 47 generates and sends one or more control commands to theadjustment actuators 80 to move the adjustment actuators 80 to a secondorientation appropriately configured to couple to and support the secondheader 24 b. The method 130 then proceeds to step 158 where thecontroller 47 confirms whether or not the adjustment actuators 80 are intheir second orientation.

At step 158, the controller 47 receives feedback (e.g., in the form ofone or more control signals) from the adjustment actuators 80 and thecontroller 47 determines if the feedback comports with the appropriatesecond orientation of the adjustment actuators 80. If the controller 47determines the adjustment actuators 80 are not in their secondorientation, the method 130 returns to step 156 and the controller 47again attempts to move the adjustment actuators 80 to their secondorientation. Returning to step 158, if the controller 47 determines theadjustment actuators 80 are in their second orientation, the method 130proceeds to step 150 where the controller 47 deactivates the automatedheader attachment feature. The method 130 then ends at step 152.

The method 130 and associated steps 144-158 pertain to two differenttypes of headers 24 a, 24 b, but it should be understood the method 130can include additional steps to account for any number of headers 24 a,24 b, 24 n. In examples includes more than two headers 24 a, 24 b, 24 n,the method 130 would include additional steps for each additional header24 n and such steps would be similar to steps 144-158 as appropriate.Furthermore, in one example, the steps 142-158 of the method 130 may beassociated with the example of the agricultural work vehicle 20 andcontrol system 123 illustrated in FIG. 8. Also, in other examples, thesteps 142-158 of the method 130 may be associated with the examples ofthe agricultural work vehicle 20 and control system 123 illustrated inFIG. 7. In a first of the examples in FIG. 7, the determining steps of144 and 154 may be performed by a visual observation of an operator and,as a result of the observation, the operator may actuate one or moreoperator control input devices 45 based on what is observed. Actuationof such one or more operator control input devices 45 causes steps 146or 156 to be realized as described above. In a second of the examples inFIG. 7, the determining steps of 144 and 154 may be performed byengagement of the one or more first engagement members 125 on the headerpositioning assembly 32 and a particular one of the second engagementmembers 126 a, 126 b on a particular one of the headers 24 a, 24 b. Uponengagement, one or more control signals associated with the particulartype of header 24 a, 24 b coupled to the header positioning assembly 32would be sent to the controller 47, which would then result in steps 146or 156 being realized as described above.

Returning now to step 142, if the method 130 determines the automaticheader attachment feature is inactive, the method 130 proceeds to step160. In the present example, the method 130 provides the option ofadjusting the orientation of the header positioning assembly 32 by anoperator actuating one or more operator control input devices 45 asdesired. This operator adjustment via one or more input devices 45 isavailable if the automatic header attachment feature is not active. Atstep 160, the method 130 determines if the operator has activated anoperator control input device 45 associated with extension of theadjustment actuators 80. If the operator control input device 45associated with extension of the adjustment actuators 80 has beenactivated, the method 130 proceeds to step 162 where the controller 47generates one or more control signals or commands and sends the one ormore control signals or commands to the adjustment actuators 80. Theadjustment actuators 80 receive the one or more control signals orcommands and extend as instructed. This extension of the adjustmentactuators 80 moves the header positioning assembly 32 into a desiredorientation. In one example, the operator may manually determine when tostop extending the adjustment actuators 80 to manually position theheader positioning assembly 32 in a desired orientation. In anotherexample, an orientation of the header positioning assembly 32 may bepredetermined and actuation of the operator control input device 45associated with extension of the adjustment actuators 80 may extend theadjustment actuators 80 in a predetermined manner to position the headerpositioning assembly 32 in the predetermined orientation (e.g., a singlebutton press (actuation of an operator control input device) or othersingle activation event to move the adjustment actuators and headerpositioning assembly to the predetermined orientation).

The method 130 continues to step 164 where the method 130 determines ifan operator has activated an operator control input device 45 associatedwith retraction of the adjustment actuators 80. If the operator controlinput device 45 associated with the retraction of the adjustmentactuators 80 has not been activated, the method 130 proceeds to step 166where the controller 47 stops retracting the adjustment actuators 80 ifthe adjustment actuators 80 are retracting. In such a scenario, thecontroller 47 generates one or more control signals or commands andsends the one or more control signals or commands to the adjustmentactuators 80 to stop retraction of the adjustment actuators 80. If theadjustment actuators 80 are not retracting, then the controller 47 maynot generate and send one or more control signals or commands to theadjustment actuators 80. The method 130 then returns to step 160 forfurther inquiry as described above.

Returning to step 164, if the operator control input device 45associated with retraction of the adjustment actuators 80 is activated,the method 130 proceeds to step 168 and the controller 47 generates oneor more control signals or commands and sends the one or more controlsignals or commands to the adjustment actuators 80 to retract theadjustment actuators 80. This retraction of the adjustment actuators 80moves the header positioning assembly 32 into a desired orientation. Inone example, the operator may manually determine when to stop retractingthe adjustment actuators 80 to manually position the header positioningassembly 32 in a desired orientation. In another example, an orientationof the header positioning assembly 32 may be predetermined and actuationof the operator control input device 45 associated with retraction ofthe adjustment actuators 80 may retract the adjustment actuators 80 in apredetermined manner to position the header positioning assembly 32 inthe predetermined orientation. The method 130 then returns to step 160for further inquiry.

Returning to step 160, if the method 130 determines the operator controlinput device 45 associated with extending the adjustment actuators 80 isnot activated, the method 130 proceeds to step 170 where the controller47 stops extending the adjustment actuators 80 if the adjustmentactuators 80 are extending. In such a scenario, the controller 47generates one or more control signals or commands and sends the one ormore control signals or commands to the adjustment actuators 80 to stopextension of the adjustment actuators 80. If the adjustment actuators 80are not extending, then the controller 47 may not generate and send oneor more control signals or commands to the adjustment actuators 80. Themethod 130 then proceeds to step 164 for further proceedings asdescribed above.

In one example, the steps 160-170 of the method 130 may be associatedwith the example of the agricultural work vehicle 20 and control system123 illustrated in FIG. 7. Also, in another example, the steps 160-170of the method 130 may be associated with the example of the agriculturalwork vehicle 20 and control system 123 illustrated in FIG. 8.

Thus, various example embodiments of a control system 123 have beendescribed in which the header positioning assembly 32 may be adjustedbetween orientations. A single button press (actuation of an operatorcontrol input device) or other single activation event (movement of afirst communication device into a predetermined range with a secondcommunication device) may instruct the control system 123 to commence anautomated orientation adjustment of the header positioning assembly 32.The control system 123 may verify that the header positioning assembly32 is in the appropriate orientation and may further determine andexecute suitable routines to properly orient the header positioningassembly 32.

Referring now to FIG. 10, another example of an agricultural workvehicle 220 is illustrated. The agricultural work vehicle illustrated inFIG. 10 may have some structural and operational similarities to theagricultural work vehicle 20 illustrated in FIG. 5. Thus, like structurebetween the two examples will be identified with like reference numbersand a prime symbol in the example of FIG. 10. The agricultural workvehicle 220 includes a plurality of interchangeable headers 24 a′, 24b′, 24 n′, a traction unit 28′, and a header positioning assembly 232.

Referring now to FIG. 11A, one example of the header positioningassembly 232 included in the agricultural work vehicle 220 of FIG. 10 isillustrated. In the illustrated example, the header positioning assembly232 includes a pair of lift arms or lift mechanisms 56′ spaced-apartfrom one another on opposite sides of the header positioning assembly232 (one lift mechanism is shown in the side elevational view of FIG.11A). The lift mechanisms 56′ are coupled to a header 24 a′, 24 b′, 24n′ and to a chassis 52′ of a traction unit 28′. In one example, firstends 60′ of the lift mechanisms 56′ are coupled to a header and secondends 64′ of the lift mechanisms 56′ are rotatably coupled to the chassis52′ of the traction unit 28′. Each lift mechanism 56′ is configured torotate about a pivot axis 68′ defined through locations where the liftmechanisms 56′ rotatably couple to the chassis 52′. These pivot axes 68′are fixed relative to the chassis 52′.

The illustrated example of the header positioning assembly 232 alsoincludes a pair of float actuators 72′ (one float actuator is shown inthe side elevational view of FIG. 11A), with one float actuator 72′coupled to each of the lift mechanisms 56′. The header positioningassembly 232 also includes a pair of lift links 236 spaced-apart fromone another on opposite sides of the header positioning assembly 232(one lift link is shown in the side elevational view of FIG. 11A). Theheader positioning assembly 232 further includes a rock shaft 240rotatably coupled to the chassis 52′ of the traction unit 28′ andextending between sides of the header positioning assembly 232. Firstends 244 of the lift links 236 are rotatably coupled to the rock shaft240. A lift actuator 248 is coupled to the rock shaft 240 and isconfigured to rotate the rock shaft 240 relative to the chassis 52′,which applies forces to the lift link 236 to ultimately lift and lowerthe lift mechanisms 56′, thereby lifting and lowering headers 24 a′, 24b′, 24 n′ coupled to the lift mechanisms 56′. In the example illustratedin FIGS. 10, 11A, and 11B, the header positioning assembly 232 includesboth float actuators 72′ and a lift actuator 248 with the floatactuators 72′ performing functionalities associated with float actuatorsand the lift actuator 248 performing functionalities of a lift actuator.In the example illustrated in FIGS. 5, 6A, and 6B, the headerpositioning assembly 32 included combination lift and float actuators72, but for simplicity the combination was referred to as lift actuators72. It should be understood that while the example illustrated in FIGS.10, 11A, and 11B include separate float actuators 72′ and lift actuator248, both the float actuators 72′ and the lift actuator 248 may bereferred to as lift actuators.

The header positioning assembly 232 also includes a pair of adjustmentmechanisms or pivot links 76′ and a pair of adjustment actuators 80′(one adjustment mechanism and one adjustment actuator are shown in theside elevational view of FIG. 11A). First ends 84′ of the lift actuators72′ are rotatably coupled to a respective one of the lift mechanisms 56′and second ends 88 of the lift actuators 72′ are rotatably coupled tothe chassis 52′ of the traction unit 28′. In the illustrated example,each adjustment mechanism 76′ includes a first leg 92′, a second leg 96′at an angle A3′ to the first leg 92′, and a pivot point 100′ at anintersection of the first leg 92′ and the second leg 96′. Eachadjustment mechanism 76′ is rotatably coupled to a respective one of thelift mechanisms 56′ and the respective first end 84′ of the liftactuators at the pivot point 100′. Second ends 252 of the lift links 236are rotatably coupled to a respective one of the second legs 96′ of theadjustment mechanisms 76′. The adjustment actuators 80′ include firstends 108′ rotatably coupled to a respective one of the lift mechanisms56′ and second ends 112′ rotatably coupled to a respective one of firstlegs 92′ of the adjustment mechanisms 76′.

Since FIGS. 11A and 11B are side elevational views of the headerpositioning assembly 232, the figures show only one side of the headerpositioning assembly 232 and, more particularly, only show one liftmechanism 56′, one lift actuator 72′, one lift link 236, one adjustmentmechanism 76′, and one adjustment actuator 80′. It should be understoodthat the lift mechanism 56′, the lift actuator 72′, the lift link 236,the adjustment mechanism 76′, and the adjustment actuator 80′ on theopposite side of the header positioning assembly 232 are configured tooperate in a similar or the same manner as the lift mechanism 56′, thelift actuator 72′, the lift link 236, the adjustment mechanism 76′, andthe adjustment actuator 80′ illustrated in FIGS. 11A and 11B anddescribed herein.

The header positioning assembly 232 is illustrated in a firstorientation or configuration associated with a first type of header 24a′. In the illustrated example, this first orientation or configurationmay be associated with the rotary mower conditioner 24 a′ shown in FIG.3. In this first orientation or configuration, a first angle A1′ isformed between the lift link 236 (or direction of force F1′) and thepivot axis 68′ where the lift mechanism 56′ is rotatably coupled to thechassis 52′, and a first perpendicular distance or lever arm L1′ isestablished between the lift link 236 (or direction of force F1′) andthe pivot axis 68′ where the lift mechanism 56′ is rotatably coupled tothe chassis 52′. In this first orientation, the header positioningassembly 232 provides a first mechanical advantage established by thefirst distance or first lever arm L1′ corresponding to a perpendiculardistance from pivot axis 68′ to the force F1′ applied by and along thelift link 236. As indicated above, the adjustment mechanism 76′ isrotatable about the pivot point 100′ at the intersection of the firstleg 92′ and second leg 96′. This rotation of the adjustment mechanism76′ occurs by actuating the adjustment actuator 80′, which acts on thefirst leg 92′ of the adjustment mechanism 76′ causing the adjustmentmechanism 96′ to rotate relative to the chassis 52′ of the traction unit28′. Rotation of the adjustment mechanism 76′ causes the lift link 236to rotate relative to the adjustment mechanism 76′, the chassis 52′, andthe lift mechanism 56′. The header positioning assembly 232 may be movedto a plurality of different orientations by actuating the adjustmentactuator 80′. These plurality of orientations may be associated withdifferent types of headers.

Referring now to FIG. 11B, the header positioning assembly 232 isillustrated in a second orientation or configuration associated with asecond type of header 24 b′. In the illustrated example, this secondorientation or configuration may be associated with the wide draperplatform 24 b′ shown in FIG. 4. In this second orientation orconfiguration, the adjustment actuator 80′ has been extended (i.e.,length of the adjustment actuator increased), thereby rotating theadjustment mechanism 76′ (e.g., in a counter-clockwise direction asillustrated in FIG. 11B) and rotating the lift link 236 (e.g., in aclockwise direction as illustrated in FIG. 11B) relative to the chassis52′ and the lift mechanism 56′. Moreover, the lift actuator 248 hasextended from its position in the first orientation and such extensionhas rotated the rock shaft 240 in a counter-clockwise direction tocorrespond to the movement of the adjustment actuator 80′. In thissecond orientation, a second angle A2′ is formed between the lift link236 (or direction of force F2′) and the pivot axis 68′ where the liftmechanism 56′ is rotatably coupled to the chassis 52′, and a secondperpendicular distance L2′ is established between the lift link 236 (ordirection of force F2′) and the pivot axis 68′ where the lift mechanism56′ is rotatably coupled to the chassis 52′. In this second orientation,the header positioning assembly 232 provides a second mechanicaladvantage established by the second distance or second lever arm L2′corresponding to a perpendicular distance from pivot axis 68′ to theforce F2′ applied by and along the lift link 236. In this example, thefirst angle A1′ is greater than the second angle A2′ and the seconddistance or second lever arm L2′ is greater than the first distance orfirst lever arm L1′. Furthermore, the second end 252 of the lift link236 is lower in the second orientation or configuration than in thefirst. By decreasing the angle between the lift link 236 and the pivotaxis 68′, lowering the second end 252 of the lift link 236, andincreasing the distance or lever arm between the lift link 236 and thepivot axis 68′, a mechanical advantage of the header positioningassembly 232 has been increased from the first orientation orconfiguration shown in FIG. 11A to the second orientation orconfiguration shown in FIG. 11B. FIGS. 11A and 11B show only two of manypossible orientations of the header positioning assembly 232. The manyorientations of the header positioning assembly 232 allow the headerpositioning assembly 232 to have a variety of different mechanicaladvantages. The ability of the header positioning assembly 232 toselectively and easily increase or decrease its mechanical advantageallows the header positioning assembly 232 to support a wide variety ofheader types and facilitate easy conversion of headers 24′ on thetraction unit 28′ without significant or any physical exertion by anoperator.

It should be understood that the control system 123 and associatedillustrations, diagrams, flowcharts, methods, steps, and operationsdescribed above may also apply to the embodiment illustrated in FIGS.10, 11A, and 11B as appropriate, and such control system, illustrations,diagrams, flowcharts, methods, steps, and operations may be altered toaccommodate any differences between the embodiment illustrated in FIGS.10, 11A, and 11B, and the other embodiments illustrated and describedabove.

Referring now to FIGS. 12A and 12B, another example of a headerpositioning assembly 332 is illustrated and is configured to be includedin any of the agricultural work vehicles described herein oralternatives thereof. The header positioning assembly 332 and portion ofan agricultural work vehicle illustrated in FIGS. 12A and 12B may havesome structural and operational similarities to the header positioningassemblies and agricultural work vehicles illustrated in FIGS. 4-11 anddescribed herein. Thus, like structure between the example illustratedin FIGS. 12A and 12B and the other examples will be identified with likereference numbers and a double prime symbol in the example of FIGS. 12Aand 12B.

Since FIGS. 12A and 12B are side elevational views of the headerpositioning assembly 332, the figures show only one side of the headerpositioning assembly 332 and, more particularly, only show one liftmechanism 56″, one lift actuator 72″, and one adjustment mechanism 76″.It should be understood that the lift mechanism 56″, the lift actuator72″, and the adjustment mechanism 76″ on the opposite side of the headerpositioning assembly 332 may operate in a similar manner as the liftmechanism 56″, the lift actuator 72″, and the adjustment mechanism 76″illustrated in FIGS. 12A and 12B and described herein.

In this example, the header positioning assembly 332 includes a handle336 coupled to an adjustment mechanism 76″ and the handle 336 isconfigured to be manipulated to manually move the adjustment mechanism76″. In one example, the handle 336 may be unitarily formed as one-piecewith the adjustment mechanism 76″. In other examples, the handle 336 maybe coupled to the adjustment mechanism 76″ in a variety of mannersincluding, but not limited to, welding, bonding, fastening, etc. Thehandle 336 is moveable between a plurality of positions correspondingwith the plurality of orientations of the header positioning assembly332. The handle 336 may be maintained in the plurality of positions in awide variety of manners. In the illustrated example, a securement member337 is coupled to the chassis 52″ and includes a plurality of recesses338 for receiving and securing the handle 336 in the plurality ofpositions. The handle 336 of the present header positioning assembly 332is configured to provide an operator with a mechanical advantage toeasily and without significant physical exertion move the headerpositioning assembly 332 between a plurality of orientations in order toaccommodate a plurality of different types of headers having a varietyof different characteristics.

The handle 336 is used in place of the adjustment actuator described inother examples of the header positioning assembly. In other examples,the handle 336 may be used in conjunction with the adjustment actuator.In the illustrated example, the handle 336 is shown included in a headerpositioning assembly similar to that shown in FIGS. 6A and 6B. It shouldbe understood the handle 336 may be included in the example of theheader positioning assembly illustrated in FIGS. 11A and 11B, or othertypes of header positioning assemblies. Returning to the illustratedexample, movement or rotation of the handle 336 rotates the adjustmentmechanism 76″, which has the same result on the header positioningassembly as previously described examples of the header positioningassembly.

Rotation of the handle 336 is configured to move the header positioningassembly 332 to a variety of orientations for accommodating a variety oftypes of headers. For example, FIG. 12A shows the header positioningassembly 332 in a first orientation or configuration and FIG. 12B showsthe header positioning assembly 332 in a second orientation orconfiguration. In the first orientation or configuration illustrated inFIG. 12A, a first angle A1″ is formed between the lift actuator 72 (ordirection of force F1″) and the pivot axis 68′ where the lift mechanism56′″ is rotatably coupled to the chassis 52″, and a first perpendiculardistance or lever arm L1″ is established between the lift actuator 72″(or direction of force F1″) and the pivot axis 68′ where the liftmechanism 56′ is rotatably coupled to the chassis 52′. In this firstorientation, the header positioning assembly 332 provides a firstmechanical advantage established by the first distance or first leverarm L1″ corresponding to a perpendicular distance from pivot axis 68″ tothe force F1″ applied by and along the lift actuator 72″. In the secondorientation or configuration illustrated in FIG. 12B, a second angle A2″is formed between the lift actuator 72 (or direction of force F2″) andthe pivot axis 68′ where the lift mechanism 56′″ is rotatably coupled tothe chassis 52″, and a second perpendicular distance or lever arm L2″ isestablished between the lift actuator 72″ (or direction of force F2″)and the pivot axis 68′ where the lift mechanism 56′ is rotatably coupledto the chassis 52′. In this second orientation, the header positioningassembly 332 provides a second mechanical advantage established by thesecond distance or second lever arm L2″ corresponding to a perpendiculardistance from pivot axis 68″ to the force F2″ applied by and along thelift actuator 72″. In the second orientation or configuration, theheader positioning assembly 332 has a greater mechanical advantage andis configured to support a header of greater size and weight than whenthe header positioning assembly 332 is positioned in the firstorientation or configuration. Referring now to FIGS. 13 and 14, anotherexample of an agricultural work vehicle 420 is illustrated. Theagricultural work vehicle illustrated in FIGS. 13 and 14 may have somestructural and operational similarities to the agricultural workvehicles 20, 220 illustrated in FIGS. 5-8 and 10-11B. Thus, likestructure between the examples will be identified with like referencenumbers and a triple prime symbol in the example of FIGS. 13 and 14.

Referring now to FIGS. 13 and 14, another example of an agriculturalwork vehicle 420 is illustrated. The agricultural work vehicleillustrated in FIGS. 13 and 14 may have some structural and operationalsimilarities to the agricultural work vehicles 20, 220 illustrated inFIGS. 5-8 and 10-11B. Thus, like structure between the examples will beidentified with like reference numbers and a triple prime symbol in theexample of FIGS. 13 and 14.

The agricultural work vehicle 420 illustrated in FIGS. 13 and 14includes many similarities to the agricultural work vehicle 20illustrated in FIGS. 5 and 8, except in the example illustrated in FIGS.13 and 14, the agricultural work vehicle 420 includes two communicationdevices 124′″, 127′″, 129′″ positioned on the traction unit 28′″ and athird communication device 425 a, 425 b, 425 n positioned on each of theheaders 24 a′″, 24 b′″, 24 n′″. In the example illustrated in FIGS. 13and 14, both the emitter 127′″ and the receiver 129′″ are positioned onthe traction unit 28′″ and the third communication device 425 a, 425 b,425 n is positioned on each of the headers 24 a′″, 24 b′″, 24 n′″. Inthis example, the emitter 127′″ and the receiver 129′″ are configured tocommunicate with each other in a wireless manner and are in electricalcommunication with the controller 47′″. The third communication devices425 a, 425 b, 425 n are configured to communicate with the emitter 127′″and the receiver 129′″ and may be a wide variety of types ofcommunication devices.

In one example, the third communication devices 425 a, 425 b, 425 n areunique reflectors. In such an example, the emitter 127′″ emits a spectraof light, the reflectors 425 a, 425 b, 425 n are each unique and wouldreflect a certain and different wavelength of light while absorbing theother light wavelengths, and the receiver 129′″ would receive the uniquewavelength of light and convey information to the controller 47′″associated with the received wavelength of light. Each of the headers 24a′″, 24 b′″, 24 n′″ would include a different reflector 425 a, 425 b,425 n, respectively, that reflects a unique and different wavelength oflight back to the receiver 129′″. In this manner, the controller 47′″would be able to identify which header 24 a′″, 24 b′″, 24 n′″ is goingto be connected to the header positioning assembly 32′″ and the headerpositioning assembly 32′″ would be adjusted to accommodate the one ofthe headers 24 a′″, 24 b′″, 24 n that will be connected thereto.

In another example, the communication devices 425 may be RFID tags andeach of the headers 24 a′″, 24 b′″, 24 n′″ would include a unique RFIDtag 425 a, 425 b, 425 n. The communication devices 124′″, 127′″, 129′″would communication with the RFID tags 425 a, 425 b, 425 n to identifywhich header 24 a′″, 24 b′″, 24 n′″ is going to be connected to theheader positioning assembly 32′″ and the header positioning assembly32′″ would be adjusted to accommodate the one of the headers 24 a′″, 24b′″, 24 n′″ that will be connected thereto.

In other examples, the communication devices 124′″, 127′″, 129′″, 425may produce, emit, and/or receive signals and the signals may bemodified to correspond with the type of header 24 a′″, 24 b′″, 24 n′″such that each header has a unique signal associated with it. Forexample, to provide the uniqueness, the signals may have a differentwave type, different magnitude, different amplitude, different phases,different frequencies, among other types of signal differences.

It should be understood that the control system 123 and associatedillustrations, diagrams, flowcharts, methods, steps, and operationsdescribed above may also apply to the embodiment illustrated in FIGS. 13and 14 as appropriate, and such control system, illustrations, diagrams,flowcharts, methods, steps, and operations may be altered to accommodateany differences between the embodiment illustrated in FIGS. 13 and 14,and the other embodiments illustrated and described above.

With reference to FIGS. 15A and 15B, another example of a portion of anagricultural work vehicle is illustrated. The portion of theagricultural work vehicle illustrated in FIGS. 15A and 15B may have somestructural and operational similarities to the agricultural workvehicles illustrated in FIGS. 3-14. Thus, like structure between theexamples will be identified with like reference numbers and a quadrupleprime symbol in the example of FIGS. 15A and 15B.

In FIGS. 15A and 15B, another example of a header positioning assembly32″″ is illustrated and has some similarities to the header positioningassembly 32 illustrated in FIGS. 6A and 6B. Similarly to FIGS. 6A and6B, FIGS. 15A and 15B are side elevational views of the headerpositioning assembly 32″″ and, as a result, only show one side of theheader positioning assembly 32″″. It should be understood, similarly toprior embodiments and examples, that the header positioning assembly32″″ includes two lift mechanisms 56″″, two lift/float actuators 72″″,and two adjustment actuators 80″″, with one of each of these mechanismson each side of the header positioning assembly 32″″. Furthermore, sincethe mechanisms on both sides of the header positioning assembly 32″″ aresimilar in structure and function, only one side of the headerpositioning assembly 32″″ will be described herein with it beingunderstood that the following description, and associated figures, applyto the mechanisms on both sides of the header positioning assembly 32″″.

In the example illustrated in FIGS. 15A and 15B, the adjustment actuator80″″ is connected at a first end 108″″ to the chassis 58″″ of thetraction unit 28″″ and to the lift mechanism 56″″ at the second end112″″. In this example, the second end 64″″ of the lift mechanism 56″″is moveably coupled to the chassis 52″″ of the traction unit 28′″. Thelift mechanism 56″″ may be moveably coupled to the chassis 52″″ in avariety of manners and may be moveable relative to the chassis 52″″ in avariety of manners including, but not limited to, sliding, rotating,translating, or any other type of movement in a three-dimensionalcoordinate system. In the illustrated example, the chassis 52″″ definesan opening or slot 435 and the second end 64″″ of the lift mechanism56″″ is positioned in and moveable along the slot 435. The adjustmentactuator 80″″ is coupled to the second end 64″″ of the lift mechanism56″″ and is actuatable to move the lift mechanism 56″″ relative to thechassis 52″″. The lift mechanism 56″″ still rotates relative to thechassis 52″″ about pivot axis 68″″. In this example, the pivot axis 68″″of the lift mechanism 56″″ is moveable relative to the chassis 52″″ byactuating the adjustment actuator 80″″. By moving the pivot axis 68″″,the header positioning assembly 32″″ has different mechanical advantagesto accommodate different types of headers 24 a″″, 24 b″″, 24 n″″. Inother examples, an adjustment mechanism may be connected to the liftmechanism 56″″ and the chassis 52″″, and the adjustment actuator 80″″may be coupled to the adjustment mechanism. In such an example, theadjustment actuator 80″″ may be actuated to move the adjustmentmechanism in a similar manner as that described above and such movementof the adjustment mechanism would move the lifting mechanism 56″″ andthe pivot axis 68″″ relative to the chassis 52″″.

In FIG. 15A, the header positioning assembly 32″″ is illustrated in afirst orientation or configuration associated with a first type ofheader 24 b″″. In the illustrated example, this first orientation orconfiguration may be associated with the wide draper platform 24 b″″shown in FIG. 4. In this first orientation or configuration, a firstangle A1″″ is formed between the lift actuator 72″″ (or direction offorce F1) and the lift mechanism 56″″ and a first perpendicular distanceor lever arm L1″″ is established between the pivot axis 68″″ and thelift actuator 72″″ (or direction of force F1). In this firstorientation, the header positioning assembly 32″″ provides a firstmechanical advantage established by the first distance or first leverarm L1″″ corresponding to a perpendicular distance from pivot axis 68″″to the force F1 applied by the lift actuator 72″″. As indicated above,the pivot axis 68″″ of the lift mechanism 56″″ may be moved relative tothe chassis 52″″. In the illustrated example, this movement of the pivotaxis 68″″ occurs by actuating the adjustment actuator 80″″, which actson the second end 64″″ of the lift mechanism 56″″ causing the second end64″″ of the lift mechanism 56″″ to slide relative to the chassis 52″″ ofthe traction unit 28″″. In this configuration, the pivot axis 68″″ maybe moved between numerous positions or orientations. Accordingly, theheader positioning assembly 32″″ may be moved to a plurality ofdifferent orientations by actuating the adjustment actuator 80″″. Theseplurality of orientations may be associated with different types ofheaders 24″″.

Referring now to FIG. 15B, the header positioning assembly 32″″ isillustrated in a second orientation or configuration associated with asecond type of header 24 a″″. In the illustrated example, this secondorientation or configuration may be associated with the rotary mowerconditioner 24 a″″ shown in FIG. 3. In this second orientation orconfiguration, the adjustment actuator 80″″ has been retracted (i.e.,the length of the adjustment actuator decreased), thereby moving orsliding the pivot axis 68″″ upward relative to the chassis 52″″. In thissecond orientation, a second angle A2″″ is formed between the liftactuator 72″″ (or direction of force F2) and the lift mechanism 56″″ anda perpendicular second distance L2″″ is established between the pivotaxis 68″″ and the lift actuator 72″″ (or direction of force F2). In thissecond orientation, the header positioning assembly 32″″ provides asecond mechanical advantage established by the second distance or secondlever arm L2″″ corresponding to a perpendicular distance from pivot axis68″″ to the force F2 applied by the lift actuator 72″″. In this example,the second angle A2″″ is less than the first angle A1″″ and the seconddistance or second lever arm L2″″ is less than the first distance orfirst lever arm L1″″. By decreasing the angle between the lift actuator72″″ (or direction of force) and the lift mechanism 56″″ and decreasingthe distance or lever arm between the lift actuator 72″″ (or directionof force) and the pivot axis 68″″, a mechanical advantage of the headerpositioning assembly 32″″ has been decreased from the first orientationor configuration shown in FIG. 15A to the second orientation orconfiguration shown in FIG. 15B. FIGS. 15A and 15B show only two of manypossible orientations of the header positioning assembly 32″″. The manyorientations of the header positioning assembly 32″″ allow the headerpositioning assembly 32″″ to have a variety of different mechanicaladvantages. The ability of the header positioning assembly 32″″ toselectively and easily increase or decrease its mechanical advantageallows the header positioning assembly 32″″ to support a wide variety ofheader types and facilitate easy interchangeability of headers 24″″ onthe traction unit 28″″ without significant or any physical exertion bythe operator.

It should be understood that the control system 123 and associatedillustrations, diagrams, flowcharts, methods, steps, and operationsdescribed above may also apply to the embodiment illustrated in FIGS.15A and 15B as appropriate, and such control system, illustrations,diagrams, flowcharts, methods, steps, and operations may be altered toaccommodate any differences between the embodiment illustrated in FIGS.15A and 15B, and the other embodiments illustrated and described above.

Also, the following examples are provided, which are numbered forconvenient reference, as follows:

1. A control system for an agricultural work vehicle, the control systemcomprising: at least one controller; at least one control input deviceconfigured to send control signals to the at least one controller; and aheader positioning assembly configured to interchangeably couple aplurality of headers to a chassis of a traction unit, wherein the headerpositioning assembly is moveable between a plurality of orientationswith each of the plurality of orientations providing a unique mechanicaladvantage; wherein the at least one controller is configured to output aplurality of control commands corresponding to the control signalsgenerated by the at least one control input device; and wherein thecontrol commands are configured to effect movement of the headerpositioning assembly between the plurality of orientations.

2. The control system of example 1, wherein the at least one controlinput device is at least one operator control input device configured tobe actuated by an operator to generate the control signals.

3. The control system of example 2, wherein actuation of the at leastone operator control input device is dependent upon the one of theplurality of headers to be coupled to the chassis of the traction unit.

4. The control system of example 1, wherein the at least one controlinput device includes at least one emitter and at least one receiver,wherein the at least one emitter is configured to generate and send thecontrol signals and the at least one receiver is configured to receivethe control signals from the at least one emitter and send the controlsignals to the at least one controller.

5. The control system of example 4, wherein the emitter is positioned onone of the plurality of headers and the receiver is positioned on thetraction unit.

6. The control system of example 1, wherein the at least one controlinput device includes a plurality of emitters and at least one receiver,wherein the plurality of emitters are configured to generate and sendthe control signals and the at least one receiver is configured toreceive the control signals from the plurality of emitters and send thecontrol signals to the at least one controller.

7. The control system of example 6, wherein one of the plurality ofemitters is positioned on each of the plurality of headers, and whereinthe at least one receiver is positioned on the traction unit.

8. The control system of example 7, wherein each of the plurality ofemitters generates a unique control signal associated with the one ofthe plurality of headers on which it is positioned.

9. The control system of example 1, wherein the header positioningassembly includes: a lift mechanism configured to interchangeably couplethe plurality of headers to the chassis; at least one lift actuatorconfigured to apply a force to the lift mechanism to adjust and maintainan orientation of the lift mechanism relative to the chassis; anadjustment mechanism coupled to the at least one lift actuator or to thelift mechanism, the adjustment mechanism positionable in at least twoorientations and configured so that when the adjustment mechanism is inthe at least two orientations, the adjustment mechanism changes one ormore of a location and a direction of the force applied to the liftmechanism by the at least one lift actuator; and at least one adjustmentactuator coupled to the adjustment mechanism and configured to move theadjustment mechanism into the at least two orientations; wherein thecontroller sends the plurality of control commands to the at least oneadjustment actuator to move the adjustment mechanism between the atleast two orientations.

10. The control system of example 9, wherein the at least one controlinput device is at least one operator control input device configured tobe actuated by an operator to generate the control signals.

11. The control system of example 12, wherein actuation of the at leastone operator control input device is dependent upon the one of theplurality of headers to be coupled to the chassis of the traction unit.

12. The control system of example 9, wherein the at least one controlinput device includes at least one emitter positioned on one of theplurality of headers and at least one receiver positioned on thetraction unit, wherein the at least one emitter is configured togenerate and send the control signals and the at least one receiver isconfigured to receive the control signals from the at least one emitterand send the control signals to the at least one controller.

13. The control system of example 9, wherein the at least one controlinput device includes a plurality of emitters and at least one receiver,wherein the plurality of emitters are configured to generate and sendthe control signals and the at least one receiver is configured toreceive the control signals from the plurality of emitters and send thecontrol signals to the at least one controller, wherein one of theplurality of emitters is positioned on each of the plurality of headers,and wherein the at least one receiver is positioned on the tractionunit, and wherein each of the plurality of emitters generates a uniquecontrol signal associated with the one of the plurality of headers onwhich it is positioned.

14. An agricultural work vehicle comprising: a plurality of headers; atraction unit having a chassis; a header positioning assembly configuredto interchangeably couple the plurality of headers to the chassis,wherein the header positioning assembly is moveable between a pluralityof orientations with each of the plurality of orientations providing aunique mechanical advantage; and a control system including at least onecontroller, and at least one control input device configured to sendcontrol signals to the at least one controller, wherein the at least onecontroller is configured to output a plurality of control commandscorresponding to the control signals generated by the at least onecontrol input device, and wherein the control commands are configured toeffect movement of the header positioning assembly between the pluralityof orientations.

15. The agricultural work vehicle of example 14, wherein the at leastone control input device is at least one operator control input deviceconfigured to be actuated by an operator to generate the controlsignals, and wherein actuation of the at least one operator controlinput device is dependent upon the one of the plurality of headers to becoupled to the chassis of the traction unit; or wherein the at least onecontrol input device includes at least one emitter and at least onereceiver, wherein the at least one emitter is configured to generate andsend the control signals and the at least one receiver is configured toreceive the control signals from the at least one emitter and send thecontrol signals to the at least one controller.

As will be appreciated by one skilled in the art, certain aspects of thedisclosed subject matter can be embodied as a method, system (e.g., anagricultural work vehicle control system included in an agriculturalwork vehicle), or computer program product. Accordingly, certainembodiments can be implemented entirely as hardware, entirely assoftware (including firmware, resident software, micro-code, etc.) or asa combination of software and hardware (and other) aspects. Furthermore,certain embodiments can take the form of a computer program product on acomputer-usable storage medium having computer-usable program codeembodied in the medium.

Any suitable computer usable or computer readable medium can beutilized. The computer usable medium can be a computer readable signalmedium or a computer readable storage medium. A computer-usable, orcomputer-readable, storage medium (including a storage device associatedwith a computing device or client electronic device) can be, forexample, but is not limited to, an electronic, magnetic, optical,electromagnetic, infrared, or semiconductor system, apparatus, ordevice, or any suitable combination of the foregoing. More specificexamples (a non-exhaustive list) of the computer-readable medium wouldinclude the following: an electrical connection having one or morewires, a portable computer diskette, a hard disk, a random access memory(RAM), a read-only memory (ROM), an erasable programmable read-onlymemory (EPROM or Flash memory), an optical fiber, a portable compactdisc read-only memory (CD-ROM), an optical storage device. In thecontext of this document, a computer-usable, or computer-readable,storage medium can be any tangible medium that can contain, or store aprogram for use by or in connection with the instruction executionsystem, apparatus, or device.

A computer readable signal medium can include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal can takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium can be non-transitory and can be anycomputer readable medium that is not a computer readable storage mediumand that can communicate, propagate, or transport a program for use byor in connection with an instruction execution system, apparatus, ordevice.

Aspects of certain embodiments are described herein can be describedwith reference to flowchart illustrations and/or block diagrams ofmethods, apparatus (systems) and computer program products according toembodiments of the disclosure. It will be understood that each block ofany such flowchart illustrations and/or block diagrams, and combinationsof blocks in such flowchart illustrations and/or block diagrams, can beimplemented by computer program instructions. These computer programinstructions can be provided to a processor or controller of a generalpurpose computer, special purpose computer, or other programmable dataprocessing apparatus to produce a machine, such that the instructions,which execute via the processor or controller of the computer or otherprogrammable data processing apparatus, create means for implementingthe functions/acts specified in the flowchart and/or block diagram blockor blocks.

These computer program instructions can also be stored in acomputer-readable memory that can direct a computer or otherprogrammable data processing apparatus to function in a particularmanner, such that the instructions stored in the computer-readablememory produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions can also be loaded onto a computer orother programmable data processing apparatus to cause a series ofoperational steps to be performed on the computer or other programmableapparatus to produce a computer implemented process such that theinstructions which execute on the computer or other programmableapparatus provide steps for implementing the functions/acts specified inthe flowchart and/or block diagram block or blocks.

Any flowchart and block diagrams in the figures, or similar discussionabove, can illustrate the architecture, functionality, and operation ofpossible implementations of systems, methods and computer programproducts according to various embodiments of the present disclosure. Inthis regard, each block in the flowchart or block diagrams can representa module, segment, or portion of code, which comprises one or moreexecutable instructions for implementing the specified logicalfunction(s). It should also be noted that, in some alternativeimplementations, the functions noted in the block (or otherwisedescribed herein) can occur out of the order noted in the figures. Forexample, two blocks shown in succession (or two operations described insuccession) can, in fact, be executed substantially concurrently, or theblocks (or operations) can sometimes be executed in the reverse order,depending upon the functionality involved. It will also be noted thateach block of any block diagram and/or flowchart illustration, andcombinations of blocks in any block diagrams and/or flowchartillustrations, can be implemented by special purpose hardware-basedsystems that perform the specified functions or acts, or combinations ofspecial purpose hardware and computer instructions.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

The description of the present disclosure has been presented forpurposes of illustration and description, but is not intended to beexhaustive or limited to the disclosure in the form disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of thedisclosure. Explicitly referenced embodiments and examples herein werechosen and described to best explain the principles of the disclosureand their practical application, and to enable others of ordinary skillin the art to understand the disclosure and recognize many alternatives,modifications, and variations on the described embodiments and examples.Accordingly, various embodiments and implementations other than thoseexplicitly described are within the scope of the following claims.

What is claimed is:
 1. A control system for an agricultural workvehicle, the control system comprising: at least one controller; atleast one control input device configured to send control signals to theat least one controller; and a header positioning assembly configured tointerchangeably couple a plurality of headers to a chassis of a tractionunit, wherein the header positioning assembly is moveable between aplurality of orientations with each of the plurality of orientationsproviding a unique mechanical advantage, wherein the header positioningassembly includes: a lift mechanism configured to interchangeably couplethe plurality of headers to the chassis; at least one lift actuatorconfigured to apply a force to the lift mechanism to position the liftmechanism relative to the chassis; an adjustment mechanism coupled tothe at least one lift actuator or to the lift mechanism, the adjustmentmechanism positionable in at least two orientations and configured sothat when the adjustment mechanism is in the at least two orientations,the adjustment mechanism changes one or more of a location and adirection of the force applied to the lift mechanism by the at least onelift actuator; and at least one adjustment actuator coupled to theadjustment mechanism and configured to move the adjustment mechanisminto the at least two orientations; wherein the at least one controlleris configured to output a plurality of control commands corresponding tothe control signals generated by the at least one control input device;wherein the control commands are configured to effect movement of theheader positioning assembly between the plurality of orientations; andwherein the controller sends the plurality of control commands to the atleast one adjustment actuator to move the adjustment mechanism betweenthe at least two orientations.
 2. The control system of claim 1, whereinthe at least one control input device is at least one operator controlinput device configured to be actuated by an operator to generate thecontrol signals.
 3. The control system of claim 2, wherein actuation ofthe at least one operator control input device is dependent upon the oneof the plurality of headers to be coupled to the chassis of the tractionunit.
 4. The control system of claim 1, wherein the at least one controlinput device includes at least one emitter and at least one receiver,wherein the at least one emitter is configured to generate and send thecontrol signals and the at least one receiver is configured to receivethe control signals from the at least one emitter and send the controlsignals to the at least one controller.
 5. The control system of claim4, wherein the emitter and the receiver are positioned on the tractionunit.
 6. The control system of claim 4, wherein the emitter ispositioned on one of the plurality of headers and the receiver ispositioned on the traction unit.
 7. The control system of claim 1,wherein the at least one control input device includes a plurality ofemitters and at least one receiver, wherein the plurality of emittersare configured to generate and send the control signals and the at leastone receiver is configured to receive the control signals from theplurality of emitters and send the control signals to the at least onecontroller.
 8. The control system of claim 7, wherein one of theplurality of emitters is positioned on each of the plurality of headers,and wherein the at least one receiver is positioned on the tractionunit.
 9. The control system of claim 8, wherein each of the plurality ofemitters generates a unique control signal associated with the one ofthe plurality of headers on which it is positioned.
 10. An agriculturalwork vehicle comprising: a plurality of headers; a traction unit havinga chassis; a header positioning assembly configured to interchangeablycouple the plurality of headers to the chassis, wherein the headerpositioning assembly is moveable between a plurality of orientationswith each of the plurality of orientations providing a unique mechanicaladvantage, wherein the header positioning assembly includes: a liftmechanism configured to interchangeably couple the plurality of headersto the chassis; at least one lift actuator configured to apply a forceto the lift mechanism to position the lift mechanism relative to thechassis; an adjustment mechanism coupled to the at least one liftactuator or to the lift mechanism, the adjustment mechanism positionablein at least two orientations and configured so that when the adjustmentmechanism is in the at least two orientations, the adjustment mechanismchanges one or more of a location and a direction of the force appliedto the lift mechanism by the at least one lift actuator; and at leastone adjustment actuator coupled to the adjustment mechanism andconfigured to move the adjustment mechanism into the at least twoorientations; and a control system including: at least one controller,and at least one control input device configured to send control signalsto the at least one controller, wherein the at least one controller isconfigured to output a plurality of control commands corresponding tothe control signals generated by the at least one control input device,wherein the control commands are configured to effect movement of theheader positioning assembly between the plurality of orientations, andwherein the controller sends the plurality of control commands to the atleast one adjustment actuator to move the adjustment mechanism betweenthe at least two orientations.
 11. The agricultural work vehicle ofclaim 10, wherein the at least one control input device is at least oneoperator control input device configured to be actuated by an operatorto generate the control signals, and wherein actuation of the at leastone operator control input device is dependent upon the one of theplurality of headers to be coupled to the chassis of the traction unit.12. The agricultural work vehicle of claim 10, wherein the at least onecontrol input device includes at least one emitter and at least onereceiver, wherein the at least one emitter is configured to generate andsend the control signals and the at least one receiver is configured toreceive the control signals from the at least one emitter and send thecontrol signals to the at least one controller.
 13. The agriculturalwork vehicle of claim 12, wherein the emitter is positioned on one ofthe plurality of headers and the receiver is positioned on the tractionunit.
 14. The agricultural work vehicle of claim 10, wherein the atleast one control input device includes a plurality of emitters and atleast one receiver, wherein the plurality of emitters are configured togenerate and send the control signals and the at least one receiver isconfigured to receive the control signals from the plurality of emittersand send the control signals to the at least one controller.
 15. Theagricultural work vehicle of claim 14, wherein one of the plurality ofemitters is positioned on each of the plurality of headers, and whereinthe at least one receiver is positioned on the traction unit, andwherein each of the plurality of emitters generates a unique controlsignal associated with the one of the plurality of headers on which itis positioned.